CN116061178A - Control method of feeding and discharging robot based on path planning - Google Patents
Control method of feeding and discharging robot based on path planning Download PDFInfo
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- 230000033001 locomotion Effects 0.000 claims description 12
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- 238000007781 pre-processing Methods 0.000 claims description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to the technical field of feeding and discharging robot control, and discloses a feeding and discharging robot control method based on path planning. According to the path planning-based control method for the loading and unloading robot, by means of moving path design of the loading and unloading robot, obstacles in the path process are avoided, the moving path planning scheme of the loading and unloading robot can be guaranteed, the safety distance is set, the moving safety of the moving robot is guaranteed, the running efficiency of the scheme is improved, meanwhile, track design is conducted on joint angles, joint angular velocities and joint angle acceleration of each point of the loading and unloading robot, and therefore the positioning accuracy of loading and unloading of the robot is improved.
Description
Technical Field
The invention relates to the technical field of feeding and discharging robot control, in particular to a feeding and discharging robot control method based on path planning.
Background
The numerical control machine tool is used as an important component in a manufacturing system, the application of the numerical control machine tool greatly improves the efficiency and quality of the product production, and along with the development of technology, the robot replaces a person to finish the feeding and discharging operation of the machine tool, so that the numerical control machine tool is a development trend in the field. The control system of the robot is combined with the production system of the machine tool, so that the production efficiency is effectively improved, the product quality is ensured, and meanwhile, the personal injury is avoided. The high-quality track planning scheme ensures the smoothness and stability of the motion path of the robot, so that the robot can accurately complete the operation task, good motion stability and small mechanical abrasion can be ensured, the damage to the processed parts is avoided, and the intelligent robot is focused on the application of the intelligent robot in the factory production scene.
The invention discloses an intelligent feeding and discharging robot for an intelligent factory, which is used for transporting a material frame in the factory and comprises a communication module, a control module, a base, a driving wheel, a laser scanning sensor, an ultrasonic sensor and a 3D camera, a material frame and a support, wherein the driving wheel is arranged below the base, the laser scanning sensor, the ultrasonic sensor and the 3D camera are arranged on the side surface of the base, the material frame and the support are arranged above the base, the support is arranged on the material frame and is used for placing a control terminal, a plurality of grooves are formed in the material frame and are used for placing the material frame, the grooves are matched with the bottom of the material frame in a shape, the communication module and the control module are respectively arranged inside the base, the communication module is connected with the control terminal, and the control module is respectively connected with the laser scanning sensor, the ultrasonic sensor and the 3D camera.
At present, in the use process of the existing loading and unloading robot, higher-order polynomials, spline curves and the like are required to be introduced for high-precision operation requirements, but in the machining process, complicated production environments, part abrasion problems and the like exist in the loading and unloading stages of the robot, vibration and impact are easily caused by sudden acceleration changes in the movement process of the loading and unloading robot, so that the stability of the robot in the loading and unloading operation movement is poor.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides a loading and unloading robot control method based on path planning.
(II) technical scheme
In order to achieve the above purpose, the present invention provides the following technical solutions: a loading and unloading robot control method based on path planning comprises the following steps:
s1, preprocessing a planned moving path
The method comprises the steps of calculating the safety distance between the feeding and discharging robot and surrounding obstacles in the moving process of the feeding and discharging robot according to the external geometric characteristics of the feeding and discharging robot, forming a circular range on a moving path by taking the boundary point of the obstacle as the center and the safety distance as the expanding radius, setting the safety range, marking the safety range, and then designing a path according to the moving path of the feeding and discharging robot to obtain a reference moving path.
S2, acquiring parameter information of the loading and unloading robot
D-H parameter information of the feeding and discharging robot is obtained aiming at the structure of the feeding and discharging robot, and parameter information of a connecting rod and a joint of the feeding and discharging robot is obtained, wherein the parameter information comprises: joint angle, link offset, link length, and link torsion angle.
S3, obtaining an initial path
Establishing an adjacency matrix, and solving paths of the reference moving paths aiming at the adjacency matrix to obtain an initial path.
S4, track planning of feeding and discharging robot
The feeding stage of the robot adopts a quintic polynomial to carry out feeding track planning in a joint space, joint acceleration is restrained, joint angles, joint angular velocities and joint angular accelerations of each point are calculated, the feeding stage of the robot sets two middle points of a lifting point and a dropping point on a motion path, namely, a grabbing point of the robot is A, the lifting point is B, the dropping point is C, a placement point D is set, the robot moves vertically from A to B, C to D in ascending or descending mode, only the Z-axis coordinate of an end effector of the robot changes, each joint angle corresponding to each point is solved through inverse kinematics of the robot, the BC section is a main part of the feeding stage of the robot, the track planning is carried out by using seven-time polynomial interpolation, the joint accelerations are restrained, and the joint angles, the joint angular velocities and the joint angular accelerations of each point are calculated.
S5, perfecting path planning
Optimizing an initial path, performing neighborhood expansion on the initial path to obtain an expansion path, segmenting the expansion path to obtain n segmentation paths, respectively optimizing each segmentation path, splicing the optimized segmentation paths to obtain an optimized complete path, determining the angular displacement of each joint of the robot, and determining the motion trail of the feeding and discharging robot.
S6, controlling operation of feeding and discharging robots
The intelligent feeding and discharging robot is in a standby area for standby, when receiving intelligent feeding tasks, the intelligent feeding and discharging robot moves to a material area to get materials, after the intelligent feeding and discharging robot receives materials and confirms, the intelligent feeding and discharging robot moves to an upper plate position for feeding, after the intelligent feeding and discharging robot feeds materials and confirms, an empty frame is brought back to the material area and moves to the standby area for standby, when receiving intelligent feeding tasks, the feeding and discharging robot moves to a discharging area for discharging finished products, and after the discharging is finished, the feeding is returned to the standby area for standby.
Preferably, the content of marking the safety range in S1 includes calculating the safety distance of the loading and unloading robot and calculating the safety range for the external geometric features of the loading and unloading robot.
Preferably, the content of the marking of the safety range further includes identifying all boundary points of the obstacle on the reference moving path, and acquiring coordinates of one boundary point of each obstacle, and setting a circular safety range with the boundary point of the obstacle as a center.
Preferably, the segmentation in S5 includes determining a segment length cd of each of the segmented paths, and retrieving each path point on the initial path.
Preferably, the segmenting further includes obtaining coordinates of all path points in each segmented path, and calculating minimum and maximum values of transverse coordinates and longitudinal coordinates in the coordinate points for each segmented path.
Preferably, in the step S5, a coordinate matrix of the segmented paths needs to be set, and redundant points on each segmented path are deleted, so as to obtain a segmented path after further optimization.
Preferably, the coordinates of each path point in each segmented path need to be recorded respectively, and the coordinate position of each path point in the reference moving path is obtained and recorded.
Preferably, the coordinates of the path points on the segmented path are sequentially put into a path coordinate matrix, so that the segmented path is spliced.
(III) beneficial effects
Compared with the prior art, the invention provides a loading and unloading robot control method based on path planning, which has the following beneficial effects:
according to the path planning-based control method for the feeding and discharging robots, by means of moving path design of the feeding and discharging robots, obstacles in the path process are avoided, the moving path planning scheme of the feeding and discharging robots can be guaranteed, the difficulty and complexity of moving path manufacture are reduced, the moving path is preprocessed, the safety distance is set, the moving safety of the moving robots is guaranteed, the running efficiency of the scheme is improved, meanwhile, track design is conducted on joint angles, joint angular speeds and joint angle acceleration of each point of the feeding and discharging robots, the obtained track is higher in smoothness and smaller in impact, the track accuracy is guaranteed, and accordingly the feeding and discharging positioning accuracy of the robots is improved.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
As shown in fig. 1, the invention provides a loading and unloading robot control method based on path planning, which comprises the following steps:
s1, preprocessing a planned moving path
The method comprises the steps of calculating safety distances between the robot and surrounding obstacles in the moving process of the loading and unloading robot according to external geometric features of the loading and unloading robot, forming a circular range on a moving path by taking boundary points of the obstacles as centers and the safety distances as expanding radiuses, setting the safety range, marking the safety range, and then carrying out path design on the moving path of the loading and unloading robot to obtain a reference moving path, wherein the content of marking the safety range comprises the external geometric features of the loading and unloading robot, calculating the safety distances of the loading and unloading robot, calculating the safety range, and the content of marking the safety range comprises the coordinates of all boundary points of the obstacles on the reference moving path, and acquiring the circular safety range which is set by taking the boundary points of the obstacles as the centers.
S2, acquiring parameter information of the loading and unloading robot
D-H parameter information of the feeding and discharging robot is obtained aiming at the structure of the feeding and discharging robot, and parameter information of a connecting rod and a joint of the feeding and discharging robot is obtained, wherein the parameter information comprises: joint angle, link offset, link length, and link torsion angle.
S3, obtaining an initial path
Establishing an adjacency matrix, and solving paths of the reference moving paths aiming at the adjacency matrix to obtain an initial path.
S4, track planning of feeding and discharging robot
The feeding stage of the robot adopts a quintic polynomial to carry out feeding track planning in a joint space, joint acceleration is restrained, joint angles, joint angular velocities and joint angular accelerations of each point are calculated, the feeding stage of the robot sets two middle points of a lifting point and a dropping point on a motion path, namely, a grabbing point of the robot is A, the lifting point is B, the dropping point is C, a placement point D is set, the robot moves vertically from A to B, C to D in ascending or descending mode, only the Z-axis coordinate of an end effector of the robot changes, each joint angle corresponding to each point is solved through inverse kinematics of the robot, the BC section is a main part of the feeding stage of the robot, the track planning is carried out by using seven-time polynomial interpolation, the joint accelerations are restrained, and the joint angles, the joint angular velocities and the joint angular accelerations of each point are calculated.
S5, perfecting path planning
Optimizing an initial path, carrying out neighborhood expansion on the initial path to obtain an expanded path, segmenting the expanded path to obtain n segmented paths, respectively optimizing each segmented path, splicing the optimized segmented paths to obtain an optimized complete path, determining the angular displacement of each joint of the robot, determining the motion track of the feeding and discharging robot, wherein the segmentation comprises the following steps of determining the segmented length cd of each segmented path, searching each path point on the initial path, obtaining the coordinates of all path points in each segmented path, calculating the minimum value and the maximum value of the transverse coordinates and the longitudinal coordinates in the coordinate points for each segmented path, setting the coordinate matrix of the segmented path, deleting the redundant points on each segmented path, and obtaining the segmented path after further optimization.
The coordinates of each path point in each segmented path are required to be recorded respectively, the coordinate position of each path point in the reference moving path is obtained and recorded, and the coordinates of the path points on the segmented paths are sequentially put into a path coordinate matrix to finish the splicing of the segmented paths.
S6, controlling operation of feeding and discharging robots
The intelligent feeding and discharging robot is in a standby area for standby, when receiving intelligent feeding tasks, the intelligent feeding and discharging robot moves to a material area to get materials, after the intelligent feeding and discharging robot receives materials and confirms, the intelligent feeding and discharging robot moves to an upper plate position for feeding, after the intelligent feeding and discharging robot feeds materials and confirms, an empty frame is brought back to the material area and moves to the standby area for standby, when receiving intelligent feeding tasks, the feeding and discharging robot moves to a discharging area for discharging finished products, and after the discharging is finished, the feeding is returned to the standby area for standby.
In this embodiment, through carrying out the moving path design to last unloading robot, avoid the barrier of route in-process, can guarantee the mobile robot route planning scheme of last unloading robot motion safety, the degree of difficulty and the complexity of moving path preparation have been reduced through carrying out preliminary treatment to the moving path, set up safe distance, the motion safety of mobile robot has been guaranteed, and the operating efficiency of scheme has been improved, and simultaneously carry out the orbit design to the joint angle of last unloading robot each point, joint angular velocity, joint angular acceleration, the track smoothness that obtains is higher, the impact is less, and then guaranteed the precision of track, thereby the positioning accuracy of unloading on the robot has been improved.
The following specifically describes the working principle of the loading and unloading robot control method based on path planning.
As shown in FIG. 1, during use, through carrying out moving path design on the feeding and discharging robots, obstacles in the path process are avoided, a moving robot path planning scheme capable of guaranteeing the moving safety of the feeding and discharging robots is adopted, the difficulty and complexity of moving path manufacture are reduced, the moving safety of the moving robots is guaranteed by preprocessing the moving paths, the safety distance is set, the running efficiency of the scheme is improved, meanwhile, track design is carried out aiming at joint angles, joint angular velocities and joint angle acceleration of each point of the feeding and discharging robots, the obtained track is higher in smoothness and smaller in impact, and the track accuracy is guaranteed, so that the positioning accuracy of feeding and discharging of the robots is improved.
Claims (8)
1. The method for controlling the feeding and discharging robots based on path planning is characterized by comprising the following steps of:
s1, preprocessing a planned moving path
Aiming at external geometric characteristics of the feeding and discharging robots, calculating safety distances between the feeding and discharging robots and surrounding obstacles in the moving process, forming a circular range on a moving path by taking boundary points of the obstacles as centers and the safety distances as expanding radiuses, setting the safety range, marking the safety range, and then carrying out path design on the moving path of the feeding and discharging robots to obtain a reference moving path;
s2, acquiring parameter information of the loading and unloading robot
D-H parameter information of the feeding and discharging robot is obtained aiming at the structure of the feeding and discharging robot, and parameter information of a connecting rod and a joint of the feeding and discharging robot is obtained, wherein the parameter information comprises: joint angle, link offset, link length, and link torsion angle;
s3, obtaining an initial path
Establishing an adjacency matrix, and solving paths of the reference moving paths aiming at the adjacency matrix to obtain initial paths;
s4, track planning of feeding and discharging robot
The method comprises the steps that a feeding track planning in a joint space is conducted by adopting a quintic polynomial, joint acceleration is restrained, joint angles, joint angular velocities and joint angular accelerations of all points are calculated, a robot discharging stage is conducted, two middle points of a lifting point and a falling point are arranged on a motion path, namely, a grabbing point of the robot is A, the lifting point is B, the falling point is C, a placing point is D, the robot ascends or descends vertically from A to B, C to D, only the Z-axis coordinate of an end effector of the robot is changed, all joint angles corresponding to all points of the Z-axis coordinate are solved through inverse kinematics of the robot, a BC section is a main part of the robot discharging stage, track planning is conducted on all joint angles, joint angular velocities and joint angular accelerations of all points are calculated by using seven-time polynomial interpolation, and the joint accelerations are restrained;
s5, perfecting path planning
Optimizing an initial path, performing neighborhood expansion on the initial path to obtain an expansion path, segmenting the expansion path to obtain n segmentation paths, respectively optimizing each segmentation path, splicing the optimized segmentation paths to obtain an optimized complete path, determining the angular displacement of each joint of the robot, and determining the motion trail of the feeding and discharging robot;
s6, controlling operation of feeding and discharging robots
The intelligent feeding and discharging robot is in a standby area for standby, when receiving intelligent feeding tasks, the intelligent feeding and discharging robot moves to a material area to get materials, after the intelligent feeding and discharging robot receives materials and confirms, the intelligent feeding and discharging robot moves to an upper plate position for feeding, after the intelligent feeding and discharging robot feeds materials and confirms, an empty frame is brought back to the material area and moves to the standby area for standby, when receiving intelligent feeding tasks, the feeding and discharging robot moves to a discharging area for discharging finished products, and after the discharging is finished, the feeding is returned to the standby area for standby.
2. The path planning-based loading and unloading robot control method according to claim 1, wherein the method comprises the following steps: the content for marking the safety range in the S1 comprises the steps of calculating the safety distance of the feeding and discharging robot and calculating the safety range, wherein the safety range is marked by the external geometric characteristics of the feeding and discharging robot.
3. The path planning-based loading and unloading robot control method according to claim 2, wherein: the content of the safety range marking further comprises identifying all boundary points of the obstacles on the reference moving path, and acquiring coordinates of one boundary point of each obstacle, wherein the circular safety range is set by taking the boundary point of the obstacle as the center.
4. The path planning-based loading and unloading robot control method according to claim 1, wherein the method comprises the following steps: the segmentation in S5 includes determining a segment length cd of each segment path, and retrieving each path point on the initial path.
5. The path planning-based loading and unloading robot control method according to claim 4, wherein: the segmentation further comprises the steps of obtaining coordinates of all path points in each segmented path, and calculating minimum and maximum values of transverse coordinates and longitudinal coordinates in the coordinate points respectively aiming at each segmented path.
6. The path planning-based loading and unloading robot control method according to claim 1, wherein the method comprises the following steps: and S5, setting a coordinate matrix of the segmented paths, and deleting redundant points on each segmented path to obtain the segmented paths after further optimization.
7. The path planning-based loading and unloading robot control method as set forth in claim 6, wherein: the coordinates of each path point in each segmented path are required to be recorded respectively, and the coordinate position of each path point in the reference moving path is acquired and recorded.
8. The path planning-based loading and unloading robot control method as set forth in claim 6, wherein: and sequentially placing the coordinates of the path points on the segmented paths into a path coordinate matrix to finish the splicing of the segmented paths.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118061203A (en) * | 2024-04-22 | 2024-05-24 | 钛玛科（北京）工业科技有限公司 | Robot path optimization control method for coiled material feeding process |
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| CN114442629A (en) * | 2022-01-25 | 2022-05-06 | 吉林大学 | Mobile robot path planning method based on image processing |
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